OpenRaiser/Intern-Atlas huggingface dataset:
See and Beam: Leveraging LiDAR Sensing and Specular Surfaces for Indoor mmWave Connectivity
Venue: arXiv cs.NI 2025
Year: 2025

Millimeter-wave (mmWave) communication enables multi-gigabit-per-second data rates but is highly susceptible to path loss and blockage, especially indoors. Many indoor settings, however, include naturally occurring specular surfaces such as glass, glossy metal panels, and signage, that reflect both light and mmWave signals. Exploiting this dual reflectivity, we propose See and Beam, a low-cost framework that combines LiDAR sensing with passive specular reflectors to enhance mmWave connectivity under non-line-of-sight (NLoS) conditions. In this paper, as a proof of concept, we deploy three types of reflectors, glossy, smooth, and matte (non-specular), to evaluate joint LiDAR/mmWave reflection in an indoor scenario. We demonstrate that using LiDAR-mmWave co-reflective surfaces enables a co-located LiDAR sensor to map the NLoS environment, localize NLoS users, and identify viable communication reflection points. Experimental results at 60 GHz show that LiDAR-guided beam steering with co-reflective surfaces improves the minimum received signal strength by over 20 dB in deep NLoS regions. Moreover, LiDAR-derived angle-of-departure steering achieves performance comparable to exhaustive NLoS beam search. This low cost, and scalable framework serves as an effective alternative to configurable reflecting surfaces and enables robust mmWave connectivity in future 6G and beyond networks.
Real-Time Lightweight Gaze Privacy-Preservation Techniques Validated via Offline Gaze-Based Interaction Simulation
Venue: arXiv cs.HC 2025
Year: 2025

This study examines the effectiveness of the real-time privacy-preserving techniques through an offline gaze-based interaction simulation framework. Those techniques aim to reduce the amount of identity-related information in eye-tracking data while improving the efficacy of the gaze-based interaction. Although some real-time gaze privatization methods were previously explored, their validation on the large dataset was not conducted. We propose a functional framework that allows to study the efficacy of real-time gaze privatization on an already collected offline dataset. The key metric used to assess the reduction of identity-related information is the identification rate, while improvements in gaze-based interactions are evaluated through signal quality during interaction. Our additional contribution is the employment of an extremely lightweight Kalman filter framework that reduces the amount of identity-related information in the gaze signal and improves gaze-based interaction performance.
TermGPT: Multi-Level Contrastive Fine-Tuning for Terminology Adaptation in Legal and Financial Domain
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) have demonstrated impressive performance in text generation tasks; however, their embedding spaces often suffer from the isotropy problem, resulting in poor discrimination of domain-specific terminology, particularly in legal and financial contexts. This weakness in terminology-level representation can severely hinder downstream tasks such as legal judgment prediction or financial risk analysis, where subtle semantic distinctions are critical. To address this problem, we propose TermGPT, a multi-level contrastive fine-tuning framework designed for terminology adaptation. We first construct a sentence graph to capture semantic and structural relations, and generate semantically consistent yet discriminative positive and negative samples based on contextual and topological cues. We then devise a multi-level contrastive learning approach at both the sentence and token levels, enhancing global contextual understanding and fine-grained terminology discrimination. To support robust evaluation, we construct the first financial terminology dataset derived from official regulatory documents. Experiments show that TermGPT outperforms existing baselines in term discrimination tasks within the finance and legal domains.
Uncertainty-Guided Checkpoint Selection for Reinforcement Finetuning of Large Language Models
Venue: arXiv cs.LG 2025
Year: 2025

Reinforcement learning (RL) finetuning is crucial to aligning large language models (LLMs), but the process is notoriously unstable and exhibits high variance across model checkpoints. In practice, selecting the best checkpoint is challenging: evaluating checkpoints on the validation set during training is computationally expensive and requires a good validation set, while relying on the final checkpoint provides no guarantee of good performance. We introduce an uncertainty-guided approach for checkpoint selection (UGCS) that avoids these pitfalls. Our method identifies hard question-answer pairs using per-sample uncertainty and ranks checkpoints by how well they handle these challenging cases. By averaging the rewards of the top-uncertain samples over a short training window, our method produces a stable and discriminative signal without additional forward passes or significant computation overhead. Experiments across three datasets and three LLMs demonstrate that it consistently identifies checkpoints with stronger generalization, outperforming traditional strategies such as relying on training or validation performance. These results highlight that models solving their hardest tasks with low uncertainty are the most reliable overall.
EnchTable: Unified Safety Alignment Transfer in Fine-tuned Large Language Models
Venue: arXiv cs.CL 2025
Year: 2025

Many machine learning models are fine-tuned from large language models (LLMs) to achieve high performance in specialized domains like code generation, biomedical analysis, and mathematical problem solving. However, this fine-tuning process often introduces a critical vulnerability: the systematic degradation of safety alignment, undermining ethical guidelines and increasing the risk of harmful outputs. Addressing this challenge, we introduce EnchTable, a novel framework designed to transfer and maintain safety alignment in downstream LLMs without requiring extensive retraining. EnchTable leverages a Neural Tangent Kernel (NTK)-based safety vector distillation method to decouple safety constraints from task-specific reasoning, ensuring compatibility across diverse model architectures and sizes. Additionally, our interference-aware merging technique effectively balances safety and utility, minimizing performance compromises across various task domains. We implemented a fully functional prototype of EnchTable on three different task domains and three distinct LLM architectures, and evaluated its performance through extensive experiments on eleven diverse datasets, assessing both utility and model safety. Our evaluations include LLMs from different vendors, demonstrating EnchTable's generalization capability. Furthermore, EnchTable exhibits robust resistance to static and dynamic jailbreaking attacks, outperforming vendor-released safety models in mitigating adversarial prompts. Comparative analyses with six parameter modification methods and two inference-time alignment baselines reveal that EnchTable achieves a significantly lower unsafe rate, higher utility score, and universal applicability across different task domains. Additionally, we validate EnchTable can be seamlessly integrated into various deployment pipelines without significant overhead.
PuffyBot: An Untethered Shape Morphing Robot for Multi-environment Locomotion
Venue: arXiv cs.RO 2025
Year: 2025

Amphibians adapt their morphologies and motions to accommodate movement in both terrestrial and aquatic environments. Inspired by these biological features, we present PuffyBot, an untethered shape morphing robot capable of changing its body morphology to navigate multiple environments. Our robot design leverages a scissor-lift mechanism driven by a linear actuator as its primary structure to achieve shape morphing. The transformation enables a volume change from 255.00 cm3 to 423.75 cm3, modulating the buoyant force to counteract a downward force of 3.237 N due to 330 g mass of the robot. A bell-crank linkage is integrated with the scissor-lift mechanism, which adjusts the servo-actuated limbs by 90 degrees, allowing a seamless transition between crawling and swimming modes. The robot is fully waterproof, using thermoplastic polyurethane (TPU) fabric to ensure functionality in aquatic environments. The robot can operate untethered for two hours with an onboard battery of 1000 mA h. Our experimental results demonstrate multi-environment locomotion, including crawling on the land, crawling on the underwater floor, swimming on the water surface, and bimodal buoyancy adjustment to submerge underwater or resurface. These findings show the potential of shape morphing to create versatile and energy efficient robotic platforms suitable for diverse environments.
Towards Multiple Missing Values-resistant Unsupervised Graph Anomaly Detection
Venue: arXiv cs.LG 2025
Year: 2025

Unsupervised graph anomaly detection (GAD) has received increasing attention in recent years, which aims to identify data anomalous patterns utilizing only unlabeled node information from graph-structured data. However, prevailing unsupervised GAD methods typically presuppose complete node attributes and structure information, a condition hardly satisfied in real-world scenarios owing to privacy, collection errors or dynamic node arrivals. Existing standard imputation schemes risk "repairing" rare anomalous nodes so that they appear normal, thereby introducing imputation bias into the detection process. In addition, when both node attributes and edges are missing simultaneously, estimation errors in one view can contaminate the other, causing cross-view interference that further undermines the detection performance. To overcome these challenges, we propose M$^2$V-UGAD, a multiple missing values-resistant unsupervised GAD framework on incomplete graphs. Specifically, a dual-pathway encoder is first proposed to independently reconstruct missing node attributes and graph structure, thereby preventing errors in one view from propagating to the other. The two pathways are then fused and regularized in a joint latent space so that normals occupy a compact inner manifold while anomalies reside on an outer shell. Lastly, to mitigate imputation bias, we sample latent codes just outside the normal region and decode them into realistic node features and subgraphs, providing hard negative examples that sharpen the decision boundary. Experiments on seven public benchmarks demonstrate that M$^2$V-UGAD consistently outperforms existing unsupervised GAD methods across varying missing rates.
MosaicDoc: A Large-Scale Bilingual Benchmark for Visually Rich Document Understanding
Venue: arXiv cs.CV 2025
Year: 2025

Despite the rapid progress of Vision-Language Models (VLMs), their capabilities are inadequately assessed by existing benchmarks, which are predominantly English-centric, feature simplistic layouts, and support limited tasks. Consequently, they fail to evaluate model performance for Visually Rich Document Understanding (VRDU), a critical challenge involving complex layouts and dense text. To address this, we introduce DocWeaver, a novel multi-agent pipeline that leverages Large Language Models to automatically generate a new benchmark. The result is MosaicDoc, a large-scale, bilingual (Chinese and English) resource designed to push the boundaries of VRDU. Sourced from newspapers and magazines, MosaicDoc features diverse and complex layouts (including multi-column and non-Manhattan), rich stylistic variety from 196 publishers, and comprehensive multi-task annotations (OCR, VQA, reading order, and localization). With 72K images and over 600K QA pairs, MosaicDoc serves as a definitive benchmark for the field. Our extensive evaluation of state-of-the-art models on this benchmark reveals their current limitations in handling real-world document complexity and charts a clear path for future research.
MDMLP-EIA: Multi-domain Dynamic MLPs with Energy Invariant Attention for Time Series Forecasting
Venue: arXiv cs.LG 2025
Year: 2025

Time series forecasting is essential across diverse domains. While MLP-based methods have gained attention for achieving Transformer-comparable performance with fewer parameters and better robustness, they face critical limitations including loss of weak seasonal signals, capacity constraints in weight-sharing MLPs, and insufficient channel fusion in channel-independent strategies. To address these challenges, we propose MDMLP-EIA (Multi-domain Dynamic MLPs with Energy Invariant Attention) with three key innovations. First, we develop an adaptive fused dual-domain seasonal MLP that categorizes seasonal signals into strong and weak components. It employs an adaptive zero-initialized channel fusion strategy to minimize noise interference while effectively integrating predictions. Second, we introduce an energy invariant attention mechanism that adaptively focuses on different feature channels within trend and seasonal predictions across time steps. This mechanism maintains constant total signal energy to align with the decomposition-prediction-reconstruction framework and enhance robustness against disturbances. Third, we propose a dynamic capacity adjustment mechanism for channel-independent MLPs. This mechanism scales neuron count with the square root of channel count, ensuring sufficient capacity as channels increase. Extensive experiments across nine benchmark datasets demonstrate that MDMLP-EIA achieves state-of-the-art performance in both prediction accuracy and computational efficiency.
Debiased Dual-Invariant Defense for Adversarially Robust Person Re-Identification
Venue: arXiv cs.CV 2025
Year: 2025

Person re-identification (ReID) is a fundamental task in many real-world applications such as pedestrian trajectory tracking. However, advanced deep learning-based ReID models are highly susceptible to adversarial attacks, where imperceptible perturbations to pedestrian images can cause entirely incorrect predictions, posing significant security threats. Although numerous adversarial defense strategies have been proposed for classification tasks, their extension to metric learning tasks such as person ReID remains relatively unexplored. Moreover, the several existing defenses for person ReID fail to address the inherent unique challenges of adversarially robust ReID. In this paper, we systematically identify the challenges of adversarial defense in person ReID into two key issues: model bias and composite generalization requirements. To address them, we propose a debiased dual-invariant defense framework composed of two main phases. In the data balancing phase, we mitigate model bias using a diffusion-model-based data resampling strategy that promotes fairness and diversity in training data. In the bi-adversarial self-meta defense phase, we introduce a novel metric adversarial training approach incorporating farthest negative extension softening to overcome the robustness degradation caused by the absence of classifier. Additionally, we introduce an adversarially-enhanced self-meta mechanism to achieve dual-generalization for both unseen identities and unseen attack types. Experiments demonstrate that our method significantly outperforms existing state-of-the-art defenses.
Robust Resource Allocation via Competitive Subsidies
Venue: arXiv cs.GT 2025
Year: 2025

A canonical setting for non-monetary online resource allocation is one where agents compete over multiple rounds for a single item per round, with i.i.d. valuations and additive utilities across rounds. With $n$ symmetric agents, a natural benchmark for each agent is the utility realized by her favorite $1/n$-fraction of rounds; a line of work has demonstrated one can robustly guarantee each agent a constant fraction of this ideal utility, irrespective of how other agents behave. In particular, several mechanisms have been shown to be $1/2$-robust, and recent work established that repeated first-price auctions based on artificial credits have a robustness factor of $0.59$, which cannot be improved beyond $0.6$ using first-price and simple strategies. In contrast, even without strategic considerations, the best achievable factor is $1-1/e\approx 0.63$. In this work, we break the $0.6$ first-price barrier to get a new $0.625$-robust mechanism, which almost closes the gap to the non-strategic robustness bound. Surprisingly, we do so via a simple auction, where in each round, bidders decide if they ask for the item, and we allocate uniformly at random among those who ask. The main new ingredient is the idea of competitive subsidies, wherein we charge the winning agent an amount in artificial credits that decreases when fewer agents are bidding (specifically, when $k$ agents bid, then the winner pays proportional to $k/(k+1)$, varying the payment by a factor of 2 depending on the competition). Moreover, we show how it can be modified to get an equilibrium strategy with a slightly weaker robust guarantee of $5/(3e) \approx 0.61$ (and the optimal $1-1/e$ factor at equilibrium). Finally, we show that our mechanism gives the best possible bound under a wide class of auction-based mechanisms.
EnvTrace: Simulation-Based Semantic Evaluation of LLM Code via Execution Trace Alignment -- Demonstrated at Synchrotron Beamlines
Venue: arXiv cs.SE 2025
Year: 2025

Evaluating large language models (LLMs) for instrument control requires methods that go beyond standard, stateless algorithmic benchmarks, since the behavior of physical systems cannot be fully captured by unit tests alone. Here we introduce EnvTrace, a simulation-based method that evaluates execution traces to assess semantic code equivalence. EnvTrace is demonstrated with a beamline control-logic digital twin to facilitate the evaluation of instrument control code, with the digital twin itself also enabling the pre-execution validation of live experiments. Over 30 LLMs were evaluated using trace alignment to generate a multi-faceted score for functional correctness across key behavioral dimensions, showing that many top-tier models can approach human-level performance in rapid control-code generation. This is a first step toward a broader vision where LLMs and digital twins work symbiotically: LLMs providing intuitive control and agentic orchestration, and digital twins offering safe and high-fidelity environments, paving the way towards autonomous embodied AI.
Cyclotron: Compilation of Recurrences to Distributed and Systolic Architectures
Venue: arXiv cs.PL 2025
Year: 2025

We present Cyclotron, a framework and compiler for using recurrence equations to express streaming dataflow algorithms, which then get portably compiled to distributed topologies of interlinked processors. Our framework provides an input language of recurrences over logical tensors, which then gets lowered into an intermediate language of recurrences over logical iteration spaces, and finally into programs of send, receive, and computation operations specific to each individual processor. In Cyclotron's IR, programs are optimized such that external memory interactions are confined to the boundaries of the iteration space. Within inner iteration spaces, all data accesses become local: data accesses target values residing in local fast memory or on neighboring processing units, avoiding costly memory movement. We provide a scheduling language allowing users to define how data gets streamed and broadcasted between processors, enabling pipelined execution of computation kernels over distributed topologies of processing elements. We demonstrate the portability of our approach by compiling our IR to a reconfigurable simulator of systolic arrays and chiplet style distributed hardware, as well as to distributed-memory CPU clusters. In the simulated reconfigurable setting, we use our compiler for hardware design space exploration in which link costs and latencies can be specified. In the distributed CPU setting, we show how to use recurrences and our scheduling language to express various matrix multiplication routines (Cannon, SUMMA, PUMMA, weight stationary) and solvers (Triangular solve and Cholesky). For matrix multiplication and the triangular solve, we generate distributed implementations competitive with ScaLAPACK.
LampQ: Towards Accurate Layer-wise Mixed Precision Quantization for Vision Transformers
Venue: arXiv cs.CV 2025
Year: 2025

How can we accurately quantize a pre-trained Vision Transformer model? Quantization algorithms compress Vision Transformers (ViTs) into low-bit formats, reducing memory and computation demands with minimal accuracy degradation. However, existing methods rely on uniform precision, ignoring the diverse sensitivity of ViT components to quantization. Metric-based Mixed Precision Quantization (MPQ) is a promising alternative, but previous MPQ methods for ViTs suffer from three major limitations: 1) coarse granularity, 2) mismatch in metric scale across component types, and 3) quantization-unaware bit allocation. In this paper, we propose LampQ (Layer-wise Mixed Precision Quantization for Vision Transformers), an accurate metric-based MPQ method for ViTs to overcome these limitations. LampQ performs layer-wise quantization to achieve both fine-grained control and efficient acceleration, incorporating a type-aware Fisher-based metric to measure sensitivity. Then, LampQ assigns bit-widths optimally through integer linear programming and further updates them iteratively. Extensive experiments show that LampQ provides the state-of-the-art performance in quantizing ViTs pre-trained on various tasks such as image classification, object detection, and zero-shot quantization.
AssertMiner: Module-Level Spec Generation and Assertion Mining using Static Analysis Guided LLMs
Venue: arXiv cs.AR 2025
Year: 2025

Assertion-based verification (ABV) is a key approach to checking whether a logic design complies with its architectural specifications. Existing assertion generation methods based on design specifications typically produce only top-level assertions, overlooking verification needs on the implementation details in the modules at the micro-architectural level, where design errors occur more frequently. To address this limitation, we present AssertMiner, a module-level assertion generation framework that leverages static information generated from abstract syntax tree (AST) to assist LLMs in mining assertions. Specifically, it performs AST-based structural extraction to derive the module call graph, I/O table, and dataflow graph, guiding the LLM to generate module-level specifications and mine module-level assertions. Our evaluation demonstrates that AssertMiner outperforms existing methods such as AssertLLM and Spec2Assertion in generating high-quality assertions for modules. When integrated with these methods, AssertMiner can enhance the structural coverage and significantly improve the error detection capability, enabling a more comprehensive and efficient verification process.